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25089 Commits

Author SHA1 Message Date
Beat Küng
295caaea60 events/enums.json: remove redundant manual_control_input 2022-09-01 17:07:23 -04:00
Beat Küng
2c96bb3746 px4_parameters.hpp.jinja: explicitly set .name attribute 
Fixes the compile error on llvm:
mixture of designated and non-designated initializers in the same initializer list is a C99 extension [-Wc99-designator]
 2022-09-01 17:07:23 -04:00
Beat Küng
4e940fab83 perf_counter: remove unused include sys/queue.h 2022-09-01 17:07:23 -04:00
Beat Küng
9eff6dd049 commander: cleanup param value description for COM_POSCTL_NAVL 2022-09-01 17:07:23 -04:00
Beat Küng
0e130eac83 refactor commander: move code inside run() into separate methods 2022-09-01 17:07:23 -04:00
Beat Küng
dcb9b712bb refactor commander: move vehicle control mode to ModeUtil 2022-09-01 17:07:23 -04:00
Beat Küng
f197c8884d commander: move esc checks to arming check 2022-09-01 17:07:23 -04:00
Beat Küng
c9037f115b refactor commander: split out home position 2022-09-01 17:07:23 -04:00
Beat Küng
f17f38197d commander: move estimator checks to arming check 2022-09-01 17:07:23 -04:00
Beat Küng
cfe3d793bf commander: move battery handling into arming checks 2022-09-01 17:07:23 -04:00
Daniel Agar
5cb44a521c ekf2: estimator interface handle sample time with signed integers 
- this prevents unsigned integer overflow if the timestamp is smaller
than the configured delay (mostly a simulation edge case)
 2022-09-01 09:47:29 -04:00
dagar
75f6f22223 [AUTO COMMIT] update change indication 2022-08-31 08:52:30 -04:00
Daniel Agar
1948c5057a ekf2: handle all time on delayed horizon (except for newest sample checks) 
- a growing number of samples come into the backend with the time
already delayed (sensor's interrupt setting timestamp sample)
 - if the incoming timestamp is already delayed then the new data checks
(relative to latest IMU) can be slightly wrong
 - handle almost all timestamps and checks on delayed time horizon,
except for explicit checks of new samples
 - isRecent() and isTimedOut() helpers use delayed time
 - add new isNewestSampleRecent() used for checking the incoming
timestamp of the incoming (adjusted) data
 2022-08-31 08:52:30 -04:00
Beat Küng
d681782c7f fix flashfs: find_entry: do not go to the next sector if the CRC is invalid 2022-08-31 09:42:59 +02:00
Beat Küng
4f52cda504 flashfs: ensure no address past the end of a sector is dereferenced 
As it might result in a hardfault if it's the last flash sector.
 2022-08-31 09:42:59 +02:00
Hamish Willee
e780a583cd Fix typo follow height: FLW_TGT_HT 2022-08-29 13:25:35 +02:00
Ben Berry
734d3e4aa0 Reverted changes that broke Level Horizon calibration 2022-08-29 09:54:36 +02:00
Beat Küng
666b84027d GyroFFT: disable 4096 for IMU_GYRO_FFT_LEN 
saves around 10.5KB flash on px4-fmu-v5
 2022-08-25 22:02:15 -04:00
Beat Küng
060738cae1 src: avoid use of double precision pow & exp 
saves around 5KB flash on px4-fmu-v5
 2022-08-25 22:02:15 -04:00
Beat Küng
983a9815eb libevents: update submodule 2022-08-25 22:02:15 -04:00
Beat Küng
4c41934bb4 commander: inline HealthComponentIndex::HealthComponentIndex 
Saves around 1KB flash
 2022-08-25 22:02:15 -04:00
Beat Küng
1c89b0c9c8 commander: use actuator_function for ESC reporting 2022-08-25 22:02:15 -04:00
Beat Küng
13c93db11a commander: use circuit breaker params directly in arming checks 2022-08-25 22:02:15 -04:00
Beat Küng
4230eee24f commander: print 'ready for takeoff' to console for sitl after startup 2022-08-25 22:02:15 -04:00
Beat Küng
2fccb576ad commander: remove unused includes and variables 2022-08-25 22:02:15 -04:00
Beat Küng
dbb814ff24 HealthAndArmingChecks: CONSOLE_PRINT_ARMING_CHECK_EVENT & reduce flash usage 
- print list of events whenever they change if
  CONSOLE_PRINT_ARMING_CHECK_EVENT is set, instead of on each update call
- reduce flash usage by moving out templated code into non-template method
 2022-08-25 22:02:15 -04:00
Beat Küng
b2cb164c12 commander: replace health flags with health_report from arming checks 2022-08-25 22:02:15 -04:00
Beat Küng
6d1fb92eb7 commander: rework arming checks to use the events interface 2022-08-25 22:02:15 -04:00
Beat Küng
b3fe0eeae8 mavlink_events: send reset sequence out immediately on startup 2022-08-25 22:02:15 -04:00
Beat Küng
c7b64e3c01 commander: check for ack when calling 'commander takeoff' 2022-08-25 22:02:15 -04:00
Beat Küng
406b0bbc86 commander: handle VEHICLE_CMD_RUN_PREARM_CHECKS 2022-08-25 22:02:15 -04:00
Beat Küng
8f9be0541f HealthAndArmingChecks: add support for legacy mavlink_log reporting 2022-08-25 22:02:15 -04:00
Beat Küng
f23363f88c HealthAndArmingChecks: add unit tests for Report 2022-08-25 22:02:15 -04:00
Beat Küng
fcadc69e52 mavlink_receiver: set timestamp to gps_inject_data_topic 2022-08-25 22:02:15 -04:00
Beat Küng
b7a6de05df arming checks: add health topic 2022-08-25 22:02:15 -04:00
Beat Küng
07afcf4586 commander preflight checks: new structure using events interface 
- Reporter class that keeps track of results (list of events + whether
  arming is possible + health).
  And only reports when one or more checks change.
 2022-08-25 22:02:15 -04:00
Beat Küng
04f7df3848 SubscriptionMultiArray: use Subscription instead of SubscriptionInterval 
Saves ~3KB RAM on fmu-v5.
 2022-08-25 22:02:15 -04:00
Daniel Agar
9b0b0d1168
ekf2: update test change indication csv 2022-08-25 15:55:45 -04:00
Daniel Agar
4040e4cdf2 simulation organization and cleanup 
- new modules/simulation directory to collect all simulators and related modules
 - new Tools/simulation directory to collect and organize scattered simulation submodules, scripts, etc
 - simulation module renamed to simulator_mavlink
 - sih renamed to simulator_sih (not a great name, but I wanted to be clear it was a simulator)
 - ignition_simulator renamed to simulator_ignition_bridge
 - large sitl_target.cmake split by simulation option and in some cases pushed to appropriate modules
 - sitl targets broken down to what's actually available (eg jmavsim only has 1 model and 1 world)
 - new Gazebo consistently referred to as Ignition for now (probably the least confusing thing until we fully drop Gazebo classic support someday)
 2022-08-25 09:10:03 -04:00
Jukka Laitinen
f8f1213841 board_adc: Small fix for printf formatter 
Print sizeof type with %zu to be compatible with 64 bit targets, where it is unsigned long

Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>
 2022-08-25 07:50:23 +02:00
bresch
0061ef8b89 [AUTO COMMIT] update change indication 2022-08-24 09:16:11 -04:00
bresch
090d03eea2 ekf2: publish GNSS, rng and EV height biases 2022-08-24 09:16:11 -04:00
bresch
a2a29ba0dd ekf2: verify parameter configuration for height sources 2022-08-24 09:16:11 -04:00
bresch
8dd5d0d1a3 ekf2: don't reset height when in conditional range aiding 2022-08-24 09:16:11 -04:00
bresch
20cd599bb7 ekf2: fix param migration 2022-08-24 09:16:11 -04:00
bresch
2d39097f60 ekf2: move rng height to file 2022-08-24 09:16:11 -04:00
bresch
28b4cd0579 ekf2: move GNSS hgt control to file 2022-08-24 09:16:11 -04:00
bresch
b6f76b5eaa ekf2: move ev control to file 2022-08-24 09:16:11 -04:00
bresch
f555281c94 ekf2: move height control-related function to file 2022-08-24 09:16:11 -04:00
bresch
d87feee5b0 ekf2: move baro control logic to file 2022-08-24 09:16:11 -04:00